Ultrasonic guideance of multiple invasive devices in three dimensions

ABSTRACT

An ultrasound system includes a 3D imaging probe and a needle guide which attaches to the probe for guidance of the insertion of multiple needles into a volumetric region which can be scanned by the 3D imaging probe. The needle guide responds to the insertion of a needle through the guide by identifying a plane for scanning by the probe which is the insertion plane through which the needle will pass during insertion. The orientation of the insertion plane is communicated to the probe to cause the probe to scan the identified plane and produce images of the needle as it travels through the insertion plane.

This invention relates to medical diagnostic ultrasound systems and, inparticular, to ultrasonic diagnostic imaging systems which enable thevisualization and guidance of the insertion of multiple biopsy needlesin real time.

Ultrasonic imaging has long been used to image the insertion path ofbiopsy needles and other invasive devices so that the clinician canvisually observe the insertion of the needle toward and to targetanatomy which is to be biopsied.

Conventionally this is done with two dimensional (2D) ultrasound imagingand a 2D imaging probe equipped with a needle guide. One such needleguide is illustrated in U.S. Pat. No. 6,203,499 (Imling et al.) Thepurpose of the needle guide is to keep the needle in alignment with theplane of the 2D image of the ultrasound probe so that the insertion ofthe needle continuously takes place within that plane where it iscontinually imaged by the ultrasound probe. The needle guide clips ontothe probe so that the hole or slot in the guide through which the needleis inserted is in fixed alignment with the image plane of the probe.This limits needle insertion to two positions, one end of the probe orthe other. The clinician manipulates the probe until the target anatomyis in view in the image plane. The clinician then inserts the needlethrough the guide and at an inclination which will cause the tip of theneedle to be inserted toward and access the target anatomy. A sample ofthe target anatomy can then be extracted through the lumen of theneedle.

A difficulty commonly encountered in needle biopsies is keeping theinsertion path of the needle constantly in alignment with the imageplane of the probe. There are two sources of this difficulty. One isthat the probe must be held stationary with one hand to keep the imageplane in a fixed position while the needle is manipulated and insertedwith the other hand. The other is that the needle can bend and deflectas it is inserted and encounters tissues of different density andstiffness as it penetrates the tissue of the body. This can cause theneedle to vary from a single plane as it is inserted. Hence it would bedesirable to have a wider field of view of the target anatomy and theneedle insertion path such as one afforded by three dimensional (3D)ultrasound imaging. It would further be desirable to enable the needleto be inserted from a variety of positions and not just from the ends ofthe probe.

Three dimensional ultrasound imaging will afford a wider field of viewof the needle insertion. However, many clinicians do not like theclutter and often ambiguous perception of depth in a 3D ultrasonicimaging. They prefer a clear and easy to understand two dimensionalimage. One way to accommodate this desire is to use 3D imaging withmulti-planar reconstruction (MPR). With MPR the 3D probe will scan thethree dimensional volume in front of the probe which includes the targetanatomy, then one plane in the volume is chosen to be constructed as a2D image. This enables the clinician to hold the 3D probe stationary andadjust the MPR plane location to accommodate a changing needle insertionplane. Unfortunately, this is in practice a three-handed procedure: onehand to hold the probe, one to insert the needle, and a third to adjustthe location of the MPR plane. It would be desirable to improve thisprocedure so that the needle will be continually imaged in a 3D volumewith one hand holding the probe and the other inserting the needle.

In accordance with the principles of the present invention, a diagnosticultrasound system has a 3D imaging probe with a needle guide thatautomatically aligns the plane of a displayed ultrasound image with theplane of needle insertion. A needle guide attached to the imaging probeproduces a signal identifying the location of the plane of needleinsertion in a volumetric region which can be scanned by the probe. Theultrasound system produces an image of the identified plane, preferablyby biplane imaging by which only the identified plane or planes arescanned. In one embodiment the insertion planes of multiple needles canbe identified, facilitating use of an ultrasound system of the presentinvention for procedures such as r.f ablation using multiple needles. Inanother embodiment the insertion planes of differently inclined needlescan be identified and visualized.

In the drawings:

FIG. 1 illustrates a 3D ultrasound probe being held by the probe handlewith a needle guide of the present invention attached to the distal endof the probe.

FIG. 2 is a view of the face of the 3D probe of FIG. 1 with the needleguide attached to and surrounding the distal end of the probe.

FIG. 3 illustrates a reference plane location and an insertion planelocation of the probe and needle guide of FIGS. 1 and 2.

FIG. 4 shows the needle guide attached to the end of the probe with asurrounding needle position encoder and a wireless communicator.

FIG. 5 a illustrates a needle guide of the present invention whichemploys an optical needle position encoder.

FIG. 5 b illustrates a needle guide of the present invention whichemploys a resistive needle position encoder.

FIG. 6 illustrates the relationship between the plane of needleinsertion and the location of the biplane in which the insertion planeis located in relation to the volumetric region which can be scanned bya 3D imaging probe.

FIG. 7 illustrates in block diagram form an ultrasound system with aneedle guide constructed in accordance with the principles of thepresent invention.

FIGS. 8 an 9 illustrate a needle guide of the present invention withmultiple angles of inclination for needle insertion.

FIG. 10 illustrates an ultrasound display of multiple needles being usedfor a microwave ablation procedure.

Referring first to FIG. 1, a 3D ultrasound imaging probe 12 is shownbeing held at its proximal (cable) end with a needle guide 14 of thepresent invention attached to the distal (acoustic window) end of theprobe. The needle guide attaches to the probe in a fixed orientation byalignment with a distinctive feature of the probe such as its probeorientation marker. A probe orientation marker is a feature usuallylocated on a side of the distal end of the probe which the clinicianuses to relate the orientation of the probe on the subject to theorientation of the anatomy in the ultrasound image. See, for example,U.S. Pat. No. 5,255,682 (Pawluskiewicz et al.) In a constructedembodiment the probe 12 has an orientation marker formed as a projectionwhich is aligned with a mating notch in the inner circumference of theneedle guide, thereby assuring that the needle guide can be attached tothe probe in only one known orientation. When properly attached the faceof the needle guide is aligned with the face of the lens 71 of the probeas shown in the plan view of the face of both components in FIG. 2. Theillustrated needle guide is a ring-like structure with a number ofangled holes 40 located around the guide. The holes are slightly largerthan the size of the needle with which the guide is intended to be used,small enough to constrain the path of insertion of the needle yet largeenough to permit the clinician to move and guide the needle as it isinserted. In the illustrated needle guide there are thirty-six evenlyspaced holes 40, one every 10° around the circumference of the ring-likeguide. The holes are angled so that the path of an inserted needle isdirected under the lens 71 and travels into the aperture of the probe.In the illustrated embodiment the holes are angled at 20° with respectto an axis normal to the face of the probe lens. The probe 12 is a 3Dimaging probe which preferably has a two-dimensional array of transducerelements by which a pyramidal or trapezoidal volume in front of the lenscan be scanned by electronic beam steering. Mechanically scanning 3Dprobes may also be used. As a needle is guided into the subject by theneedle guide, its path of insertion is guided into the volumetric regionwhich can be imaged by the 3D probe 12. FIG. 3 illustrates a referenceplane 42 projecting normal to the face of the lens 71 and orthogonal tothe ends of the 2D array probe. This illustration shows a hole 40(enlarged for purposes of illustration) through which a needle can beinserted to travel along an insertion path in an imaging plane of theprobe which is at an angle of • with respect to the reference plane 42.

FIG. 4 illustrates the needle guide 14 with a rotational encoder 44 thatidentifies the location of a hole around the guide through which aneedle is inserted. When a needle is inserted through a hole at theeight o'clock position of the guide 14 in FIG. 4, the encoder identifiesa scan plane at a position of • with respect to the reference plane 42in which the needle insertion path can be imaged. If a needle isinserted through a hole at the four o'clock position, for instance, theencoder will identify a scan plane at a position of −• in which theinsertion path can be imaged. The identified scan plane is communicatedto the ultrasound system operating the probe, by either a wiredconnection or a wireless connection such as a Bluetooth communicationlink 60. Power for the encoder can be provided by either a wiredconnection or a battery 62.

The encoder can be constructed in a number of ways. One way is to useoptical encoding as shown in FIG. 5 a. In this embodiment there are anumber of light emitters such as LEDs 46 which direct light across theholes 40 to light detectors on the other side of the holes. When aneedle is inserted through a particular hole, the needle will block thelight from the detector for that hole and the detector signal thenidentifies that particular hole and its corresponding scan plane as onethrough which a needle is being inserted. The ultrasound probe andultrasound system will then image the identified scan plane and theneedle being inserted in that plane. As illustrated in FIG. 5 a, when aneedle is inserted through a hole 40 at the eight o'clock position ofthe needle guide, the optical detector signal identifies scan plane • asthat of the needle insertion path.

Another encoder implementation which uses a resistive encoder isillustrated in FIG. 5 b. In this implementation the encoder 44 has anouter slip ring with one or more holes or grooves 84 through which aneedle can be inserted. The outer slip ring 58 can be rotated around aninner ring 56 which has a resistive path 48 around the ring. The outerslip ring has a sliding contact 82 in a known relationship to theposition of the hole or groove 84 of the slip ring 58 which is inelectrical contact with the resistive path 48. The sliding contact andresistive path thereby operate as a potentiometer such that anelectrical measurement between “+” and “−” terminals electricallyconnected to the sliding contact 82 and an end of the resistive pathwill identify the position of the hole or groove around the ring-likestructure. This position information is reported to the ultrasoundsystem to identify the plane of the needle insertion path to be scannedby the probe and ultrasound system. Multiple holes or grooves can beindividually identified by connecting an additional resistance in serieswith a respective terminal so that the range of resistance valuesreported for one hole does not overlap the range of resistance valuesfor the others.

FIG. 6 is an illustration of the relationships between a 3D imagingprobe 12, the volume 100 which may be scanned by the probe, and aselected scan plane 102 in which the image field 104 of the probe ispositioned. When a needle 110 is inserted through a hole or groove inthe needle guide 14, the needle is constrained to a path which comesinto view beneath the acoustic window of the probe. Since the probe is a3D imaging probe, it is capable of scanning numerous plane orientationsin the volume 100. The rotational encoder of the needle guide 14identifies the particular hole through which the needle is beinginserted, which corresponds to a particular scan plane orientation 102that can be imaged by the 3D imaging probe. The probe 12 then images theidentified scan plane orientation as illustrated by the sector scan area104 in plane 102. The clinician can then follow the progress of theneedle 110 as it is inserted along an insertion path in the sector scanarea 104 until the tip 112 of the needle accesses the target anatomy.

FIG. 7 illustrates an ultrasound probe, needle guide, and ultrasoundsystem constructed in accordance with the principles of the presentinvention. The ultrasound system 10 is configured by two subsystems, afront end acquisition subsystem 10A and a display subsystem 10B. A 3Dultrasound probe 12 is coupled to the acquisition subsystem whichincludes a two-dimensional matrix array transducer 70 and amicro-beamformer 72. The micro-beamformer contains circuitry whichcontrol the signals applied to groups of elements (“patches”) of thearray transducer 70 and does some processing of the echo signalsreceived by elements of each group. Micro-beamforming in the probeadvantageously reduces the number of conductors in the cable between theprobe and the ultrasound system and is described in U.S. Pat. No.5,997,479 (Savord et al.) and in U.S. Pat. No. 6,436,048 (Pesque), andprovides electronic steering of beams on transmit and receive for highframe rate real-time (live) 2D or 3D imaging.

The probe 12 is coupled to the acquisition subsystem 10A of theultrasound system. The acquisition subsystem includes a beamformcontroller 74 which is responsive to a user control 36 and, for thepresent invention, a gating signal, which provide control signals to themicrobeamformer 72, instructing the probe as to the timing, frequency,direction and focusing of transmit and receive beams and the plane orplanes to be scanned by those beams.

The beamform controller also controls the system beamforming of echosignals received by the acquisition subsystem by its control ofanalog-to-digital (A/D) converters 18 and a beamformer 20. Partiallybeamformed echo signals received from the probe are amplified bypreamplifier and TGC (time gain control) circuitry 16 in the acquisitionsubsystem, then digitized by the A/D converters 18. The digitized echosignals are then formed into fully steered and focused beams by a mainsystem beamformer 20. The echo signals are then processed by an imageprocessor 22 which performs digital filtering, B mode and M modedetection, and Doppler processing, and can also perform other signalprocessing such as harmonic separation, speckle reduction, and otherdesired image signal processing.

The echo signals produced by the acquisition subsystem 10A are coupledto the display subsystem 10B, which processes the echo signals fordisplay in the desired image format. The echo signals are processed byan image line processor 24, which is capable of sampling the echosignals, splicing segments of beams into complete line signals, andaveraging line signals for signal-to-noise improvement or flowpersistence. The image lines for a 2D image are scan converted into thedesired image format by a scan converter 26 which performs R-thetaconversion as is known in the art. The scan converter can thus formatrectilinear or sector image formats. The image is then stored in animage memory 28 from which it can be displayed on a display 38. Theimage in memory is also overlaid with graphics to be displayed with theimage, which are generated by a graphics generator 34 which isresponsive to the user control 36 so that the graphics produced areassociated with the images of the display. Individual images or imagesequences can be stored in a cine memory 30 during capture of imageloops or sequences.

For real-time volumetric imaging the display subsystem 10B also includesa 3D image rendering processor 32 which receives image lines from theimage line processor 24 for the rendering of real-time three dimensionalimages. The 3D images can be displayed as live (real time) 3D images onthe display 38 or coupled to the image memory 28 for storage of the 3Ddata sets for later review and diagnosis.

In accordance with the present invention the scan plane identificationsignal produced by the needle guide 14, which identifies the scan planein which a needle inserted through the needle guide will pass and can beimaged, is coupled to a plane ID processor 52. The plane identificationsignal produced by the plane ID processor is coupled to a trigger signalgenerator 54 which produces a gating signal that commands the beamformercontroller 74 to control the scanning of a desired scan plane, one inwhich a needle insertion path is located. The beamformer controller 74controls the microbeamformer 72 to scan the desired scan plane andproduce echo signals from the scanning of the desired plane which arepartially beamformed by the microbeamformer and coupled to the systembeamformer 20 for completion of beamformation of scanline in the desiredplane. The scanlines of the plane are processed by the image lineprocessor 24 and scan converted into a two dimensional image of theidentified plane which is displayed on the display 38. The identifiedscan plane can be imaged as a single thin plane within the elevationalresolution of the probe and system, but can also be imaged as a thickslice image of a plane thickness greater than that of a single thinplane as described in US patent publication no. US2010/0168580A1 (Thieleet al.) The use of thick slice imaging enables the needle to becontinually visualized in the image even if its path of insertion variesfrom a perfectly straight line, so long as the path remains within thethickness of the thick slice image.

FIGS. 8 and 9 illustrate another needle guide of the present inventionthrough which needles 110 can be inserted at different inclinationangles •, •, and •. The cross sectional view of FIG. 8 shows threeneedles 110, 110′, and 110″ inserted through different holes 40 of theneedle guide which guide the needles along insertion paths inclined atangles •, •, and •, respectively. Each set of three holes at aparticular rotational position around the guide will direct the needlesalong an insertion path in the same scan plane, two of which, •₁ and •₂,are shown in FIG. 9 in relation to the central reference plane 42. Theneedle guide 14 of FIGS. 8 and 9 enable a clinician to access targetanatomy at different depths below the probe while identifying the scanplane of each insertion path.

In a given invasive procedure it may be desirable to access anatomy inthe body with several invasive instruments simultaneously. As FIGS. 4and 9 illustrate, multiple needles can be inserted at the same time indifferent identified scan planes •1 and •2 or +═ and −•, for example.When two insertion paths through the guide are used, the guide willreport the identity of the two different scan plane orientations to theplane ID processor, which will cause the ultrasound system 10 toalternately scan the different planes. Two different instruments may beused for microwave ablation of target anatomy, for instance, in whichcase the clinician will want to visually guide both ablation needles tothe target so that their tips are in contact with the anatomy to beablated. FIG. 10 illustrates an ultrasound display which shows fourdifferent images of an invasive procedure using a needle guide of thepresent invention. In this example three different needles, 110•, 110•,and 110• are being used and imaged at the same time. Needle 110• isshown in ultrasound image 202 of the insertion path scan plane of needle110• and the border 202 a of this image is colored a unique color suchas blue to distinguish the image of needle 110═. Identifying andcoloring a needle in an ultrasound image can be performed by asegmentation technique that specifically identifies the needle in animage from its surrounding tissue as described in US patent pub. no.2004/0002653 (Greppi et al.) and in the paper “Enhancement of NeedleVisibility in Ultrasound-guided Percutaneous Procedures” by S. Cheung etal., Ultrasound in Med. & Biol., vol. 30, no. 5 (2004) at pp 617-24, forexample. Similarly, needles 110• and 110• are shown in respective 2Dimages 204 and 206 of their insertion paths and are outlined indistinctive colors 204 a and 206 a such as red and yellow. Image 201 isa full 3D volumetric image of the region of the procedure which showsthe target anatomy being accessed by all three needles.

In the 3D image each needle is colored with its distinctive color, blue,red, or yellow, so that the clinician can easily relate each needle inthe 3D image to its own 2D insertion plane image. Each 2D image planeand the full 3D volume are scanned in a time interleaved manner, withthe individual insertion planes being scanned at a greater repetitionrate (and hence real time frame rate of display) than the 3D image. Oncethe needles are in their desired positions in the target anatomy theindividual 2D images can be frozen on the screen so that the fullacquisition time is devoted to 3D imaging and the procedure at thetarget anatomy can continue to be imaged in live 3D.

An implementation of the needle guide and ultrasound system of thepresent invention can be assisted by other guides to help the clinicianplan and carry out a needle insertion procedure, such as guiding theclinician in needle insertion to avoid hard tissues and critical anatomyas described in U.S. patent application Ser. No. 61/587,784, filed Jan.18, 2012 and entitled “ULTRASONIC GUIDANCE OF A NEEDLE PATH DURINGBIOPSY” (Kudavelly et al.) Avoidance of hard tissue in the insertionpath can help prevent deflection and bending of a needle duringinsertion.

This guidance assistance can be used to plan the insertion path prior tothe procedure or to provide guidance as a needle is being inserted.

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1. An ultrasonic imaging system which visually guides insertion of aplurality of invasive devices, the system comprising: a 3D ultrasonicimaging probe which is capable of imaging different image planes in avolumetric region; a needle guide, dimensioned to attach to the imagingprobe in a predetermined orientation, the needle guide having aplurality of needle insertion positions to guide a plurality of needlesfor insertion into the volumetric region through different needleinsertion planes; and an ultrasound system coupled to the probe andconfigured to control the 3D ultrasonic imaging probe to produce aplurality of 2D images simultaneously generated from image planesaligned with the different needle insertion planes.
 2. The ultrasonicimaging system of claim 1, wherein the ultrasound system furthercomprises a display subsystem which produces a plurality of differentlycoded 2D images of different needle insertion planes.
 3. The ultrasonicimaging system of claim 2, wherein the differently coded 2D images aredifferently color-coded.
 4. The ultrasonic imaging system of claim 3,wherein the differently coded 2D images display differently color-codedneedles in the different images.
 5. The ultrasonic imaging system ofclaim 3, wherein the differently coded 2D images have differentlycolored borders.
 6. The ultrasonic imaging system of claim 1, whereinthe ultrasound system further controls the 3D ultrasonic imaging probeto produce a 3D volumetric image, wherein the ultrasound system furthercomprises a display subsystem which simultaneously produces theplurality of 2D images and the 3D volumetric image.
 7. The ultrasonicimaging system of claim 6, wherein the 3D volumetric image displays theplurality of needles in distinctively different colors.
 8. Theultrasonic imaging system of claim 7, wherein the plurality of 2D imagesare each differently color-coded, wherein the 3D volumetric imagedisplays a plurality of needles in different colors corresponding to the2D image color coding.
 9. The ultrasonic imaging system of claim 1,wherein the needle insertion positions further comprise a plurality ofneedle insertion holes or grooves of the needle guide located around anattached imaging probe.
 10. The ultrasonic imaging system of claim 9,wherein the needle guide further comprises a needle insertion detectorassociated with each of the plurality of needle insertion holes orgrooves which detects the insertion of a needle and identifies theinsertion plane of the inserted needle.
 11. The ultrasonic imagingsystem of claim 10, wherein the needle insertion detector furthercomprises an optical detector.
 12. The ultrasonic imaging system ofclaim 10, wherein the needle insertion detector further comprises aresistive detector.
 13. The ultrasonic imaging system of claim 10,wherein the needle insertion detector communicates the identity of aplurality of differently oriented insertion planes to the ultrasoundsystem, wherein the ultrasound system is responsive to the communicationof the identity of a plurality of differently oriented insertion planesto control the 3D ultrasonic imaging probe to scan only the differentlyoriented insertion planes identified in the volumetric region.
 14. Theultrasonic imaging system of claim 1, wherein the plurality of needlesfurther comprise a plurality of r.f. ablation needles.
 15. Theultrasonic imaging system of claim 1, wherein the plurality of needlesfurther comprise a plurality of biopsy needles.